ocnn 2.2.6__py3-none-any.whl → 2.2.7__py3-none-any.whl

ocnn/octree/points.py

@@ -1,322 +1,323 @@
-# --------------------------------------------------------
-# Octree-based Sparse Convolutional Neural Networks
-# Copyright (c) 2022 Peng-Shuai Wang <wangps@hotmail.com>
-# Licensed under The MIT License [see LICENSE for details]
-# Written by Peng-Shuai Wang
-# --------------------------------------------------------
-
-import torch
-import numpy as np
-from typing import Optional, Union, List
-
-
-class Points:
-  r''' Represents a point cloud and contains some elementary transformations.
-
-  Args:
-    points (torch.Tensor): The coordinates of the points with a shape of
-        :obj:`(N, 3)`, where :obj:`N` is the number of points.
-    normals (torch.Tensor or None): The point normals with a shape of
-        :obj:`(N, 3)`.
-    features (torch.Tensor or None): The point features with a shape of
-        :obj:`(N, C)`, where :obj:`C` is the channel of features.
-    labels (torch.Tensor or None): The point labels with a shape of
-        :obj:`(N, K)`, where :obj:`K` is the channel of labels.
-    batch_id (torch.Tensor or None): The batch indices for each point with a
-        shape of :obj:`(N, 1)`.
-    batch_size (int): The batch size.
-  '''
-
-  def __init__(self, points: torch.Tensor,
-               normals: Optional[torch.Tensor] = None,
-               features: Optional[torch.Tensor] = None,
-               labels: Optional[torch.Tensor] = None,
-               batch_id: Optional[torch.Tensor] = None,
-               batch_size: int = 1):
-    super().__init__()
-    self.points = points
-    self.normals = normals
-    self.features = features
-    self.labels = labels
-    self.batch_id = batch_id
-    self.batch_size = batch_size
-    self.device = points.device
-    self.batch_npt = None   # valid after `merge_points`
-    self.check_input()
-
-  def check_input(self):
-    r''' Checks the input arguments.
-    '''
-
-    assert self.points.dim() == 2 and self.points.size(1) == 3
-    if self.normals is not None:
-      assert self.normals.dim() == 2 and self.normals.size(1) == 3
-      assert self.normals.size(0) == self.points.size(0)
-    if self.features is not None:
-      assert self.features.dim() == 2
-      assert self.features.size(0) == self.points.size(0)
-    if self.labels is not None:
-      assert self.labels.dim() == 2 or self.labels.dim() == 1
-      assert self.labels.size(0) == self.points.size(0)
-      if self.labels.dim() == 1:
-        self.labels = self.labels.unsqueeze(1)
-    if self.batch_id is not None:
-      assert self.batch_id.dim() == 2 or self.batch_id.dim() == 1
-      assert self.batch_id.size(0) == self.points.size(0)
-      if self.batch_id.dim() == 1:
-        self.batch_id = self.batch_id.unsqueeze(1)
-      assert self.batch_id.size(1) == 1
-
-  @property
-  def npt(self):
-    return self.points.shape[0]
-
-  def orient_normal(self, axis: str = 'x'):
-    r''' Orients the point normals along a given axis.
-
-    Args:
-      axis (int): The coordinate axes, choose from :obj:`x`, :obj:`y` and
-          :obj:`z`. (default: :obj:`x`)
-    '''
-
-    if self.normals is None:
-      return
-
-    axis_map = {'x': 0, 'y': 1, 'z': 2, 'xyz': 3}
-    idx = axis_map[axis]
-    if idx < 3:
-      flags = self.normals[:, idx] > 0
-      flags = flags.float() * 2.0 - 1.0  # [0, 1] -> [-1, 1]
-      self.normals = self.normals * flags.unsqueeze(1)
-    else:
-      self.normals.abs_()
-
-  def scale(self, factor: torch.Tensor):
-    r''' Rescales the point cloud.
-
-    Args:
-      factor (torch.Tensor): The scale factor with shape :obj:`(3,)`.
-    '''
-
-    non_zero = (factor != 0).all()
-    all_ones = (factor == 1.0).all()
-    non_uniform = (factor != factor[0]).any()
-    assert non_zero, 'The scale factor must not constain 0.'
-    if all_ones: return
-
-    factor = factor.to(self.device)
-    self.points = self.points * factor
-    if self.normals is not None and non_uniform:
-      ifactor = 1.0 / factor
-      self.normals = self.normals * ifactor
-      norm2 = torch.sqrt(torch.sum(self.normals ** 2, dim=1, keepdim=True))
-      self.normals = self.normals / torch.clamp(norm2, min=1.0e-12)
-
-  def rotate(self, angle: torch.Tensor):
-    r''' Rotates the point cloud.
-
-    Args:
-      angle (torch.Tensor): The rotation angles in radian with shape :obj:`(3,)`.
-    '''
-
-    cos, sin = angle.cos(), angle.sin()
-    # rotx, roty, rotz are actually the transpose of the rotation matrices
-    rotx = torch.Tensor([[1, 0, 0], [0, cos[0], sin[0]], [0, -sin[0], cos[0]]])
-    roty = torch.Tensor([[cos[1], 0, -sin[1]], [0, 1, 0], [sin[1], 0, cos[1]]])
-    rotz = torch.Tensor([[cos[2], sin[2], 0], [-sin[2], cos[2], 0], [0, 0, 1]])
-    rot = rotx @ roty @ rotz
-
-    rot = rot.to(self.device)
-    self.points = self.points @ rot
-    if self.normals is not None:
-      self.normals = self.normals @ rot
-
-  def translate(self, dis: torch.Tensor):
-    r''' Translates the point cloud.
-
-    Args:
-      dis (torch.Tensor): The displacement with shape :obj:`(3,)`.
-    '''
-
-    dis = dis.to(self.device)
-    self.points = self.points + dis
-
-  def flip(self, axis: str):
-    r''' Flips the point cloud along the given :attr:`axis`.
-
-    Args:
-      axis (str): The flipping axis, choosen from :obj:`x`, :obj:`y`, and :obj`z`.
-    '''
-
-    axis_map = {'x': 0, 'y': 1, 'z': 2}
-    for x in axis:
-      idx = axis_map[x]
-      self.points[:, idx] *= -1.0
-      if self.normals is not None:
-        self.normals[:, idx] *= -1.0
-
-  def clip(self, min: float = -1.0, max: float = 1.0, esp: float = 0.01):
-    r''' Clips the point cloud to :obj:`[min+esp, max-esp]` and returns the mask.
-
-    Args:
-      min (float): The minimum value to clip.
-      max (float): The maximum value to clip.
-      esp (float): The margin.
-    '''
-
-    mask = self.inbox_mask(min + esp, max - esp)
-    tmp = self.__getitem__(mask)
-    self.__dict__.update(tmp.__dict__)
-    return mask
-
-  def __getitem__(self, mask: torch.Tensor):
-    r''' Slices the point cloud according a given :attr:`mask`.
-    '''
-
-    dummy_pts = torch.zeros(1, 3, device=self.device)
-    out = Points(dummy_pts, batch_size=self.batch_size)
-
-    out.points = self.points[mask]
-    if self.normals is not None:
-      out.normals = self.normals[mask]
-    if self.features is not None:
-      out.features = self.features[mask]
-    if self.labels is not None:
-      out.labels = self.labels[mask]
-    if self.batch_id is not None:
-      out.batch_id = self.batch_id[mask]
-    return out
-
-  def inbox_mask(self, bbmin: Union[float, torch.Tensor] = -1.0,
-                 bbmax: Union[float, torch.Tensor] = 1.0):
-    r''' Returns a mask indicating whether the points are within the specified
-    bounding box or not.
-    '''
-
-    mask_min = torch.all(self.points > bbmin, dim=1)
-    mask_max = torch.all(self.points < bbmax, dim=1)
-    mask = torch.logical_and(mask_min, mask_max)
-    return mask
-
-  def bbox(self):
-    r''' Returns the bounding box.
-    '''
-
-    # torch.min and torch.max return (value, indices)
-    bbmin = self.points.min(dim=0)
-    bbmax = self.points.max(dim=0)
-    return bbmin[0], bbmax[0]
-
-  def normalize(self, bbmin: torch.Tensor, bbmax: torch.Tensor,
-                scale: float = 1.0):
-    r''' Normalizes the point cloud to :obj:`[-scale, scale]`.
-
-    Args:
-      bbmin (torch.Tensor): The minimum coordinates of the bounding box.
-      bbmax (torch.Tensor): The maximum coordinates of the bounding box.
-      scale (float): The scale factor
-    '''
-
-    center = (bbmin + bbmax) * 0.5
-    box_size = (bbmax - bbmin).max() + 1.0e-6
-    self.points = (self.points - center) * (2.0 * scale / box_size)
-
-  def to(self, device: Union[torch.device, str], non_blocking: bool = False):
-    r''' Moves the Points to a specified device.
-
-    Args:
-      device (torch.device or str): The destination device.
-      non_blocking (bool): If True and the source is in pinned memory, the copy
-          will be asynchronous with respect to the host. Otherwise, the argument
-          has no effect. Default: False.
-    '''
-
-    if isinstance(device, str):
-      device = torch.device(device)
-
-    #  If on the save device, directly retrun self
-    if self.device == device:
-      return self
-
-    # Construct a new Points on the specified device
-    points = Points(torch.zeros(1, 3, device=device))
-    points.batch_npt = self.batch_npt
-    points.points = self.points.to(device, non_blocking=non_blocking)
-    if self.normals is not None:
-      points.normals = self.normals.to(device, non_blocking=non_blocking)
-    if self.features is not None:
-      points.features = self.features.to(device, non_blocking=non_blocking)
-    if self.labels is not None:
-      points.labels = self.labels.to(device, non_blocking=non_blocking)
-    if self.batch_id is not None:
-      points.batch_id = self.batch_id.to(device, non_blocking=non_blocking)
-    return points
-
-  def cuda(self, non_blocking: bool = False):
-    r''' Moves the Points to the GPU. '''
-
-    return self.to('cuda', non_blocking)
-
-  def cpu(self):
-    r''' Moves the Points to the CPU. '''
-
-    return self.to('cpu')
-
-  def save(self, filename: str, info: str = 'PNFL'):
-    r''' Save the Points into npz or xyz files.
-
-    Args:
-      filename (str): The output filename.
-      info (str): The infomation for saving: 'P' -> 'points', 'N' -> 'normals',
-          'F' -> 'features', 'L' -> 'labels', 'B' -> 'batch_id'.
-    '''
-
-    mapping = {
-        'P': ('points', self.points), 'N': ('normals', self.normals),
-        'F': ('features', self.features), 'L': ('labels', self.labels),
-        'B': ('batch_id', self.batch_id), }
-
-    names, outs = [], []
-    for key in info.upper():
-      name, out = mapping[key]
-      if out is not None:
-        names.append(name)
-        if out.dim() == 1:
-          out = out.unsqueeze(1)
-        outs.append(out.cpu().numpy())
-
-    if filename.endswith('npz'):
-      out_dict = dict(zip(names, outs))
-      np.savez(filename, **out_dict)
-    elif filename.endswith('xyz'):
-      out_array = np.concatenate(outs, axis=1)
-      np.savetxt(filename, out_array, fmt='%.6f')
-    else:
-      raise ValueError
-
-
-def merge_points(points: List['Points'], update_batch_info: bool = True):
-  r''' Merges a list of points into one batch.
-
-  Args:
-    points (List[Octree]): A list of points to merge. The batch size of each
-        points in the list is assumed to be 1, and the :obj:`batch_size`,
-        :obj:`batch_id`, and :obj:`batch_npt` in the points are ignored.
-  '''
-
-  out = Points(torch.zeros(1, 3))
-  out.points = torch.cat([p.points for p in points], dim=0)
-  if points[0].normals is not None:
-    out.normals = torch.cat([p.normals for p in points], dim=0)
-  if points[0].features is not None:
-    out.features = torch.cat([p.features for p in points], dim=0)
-  if points[0].labels is not None:
-    out.labels = torch.cat([p.labels for p in points], dim=0)
-  out.device = points[0].device
-
-  if update_batch_info:
-    out.batch_size = len(points)
-    out.batch_npt = torch.Tensor([p.npt for p in points]).long()
-    out.batch_id = torch.cat([p.points.new_full((p.npt, 1), i)
-                              for i, p in enumerate(points)], dim=0)
-  return out
+# --------------------------------------------------------
+# Octree-based Sparse Convolutional Neural Networks
+# Copyright (c) 2022 Peng-Shuai Wang <wangps@hotmail.com>
+# Licensed under The MIT License [see LICENSE for details]
+# Written by Peng-Shuai Wang
+# --------------------------------------------------------
+
+import torch
+import numpy as np
+from typing import Optional, Union, List
+
+
+class Points:
+  r''' Represents a point cloud and contains some elementary transformations.
+
+  Args:
+    points (torch.Tensor): The coordinates of the points with a shape of
+        :obj:`(N, 3)`, where :obj:`N` is the number of points.
+    normals (torch.Tensor or None): The point normals with a shape of
+        :obj:`(N, 3)`.
+    features (torch.Tensor or None): The point features with a shape of
+        :obj:`(N, C)`, where :obj:`C` is the channel of features.
+    labels (torch.Tensor or None): The point labels with a shape of
+        :obj:`(N, K)`, where :obj:`K` is the channel of labels.
+    batch_id (torch.Tensor or None): The batch indices for each point with a
+        shape of :obj:`(N, 1)`.
+    batch_size (int): The batch size.
+  '''
+
+  def __init__(self, points: torch.Tensor,
+               normals: Optional[torch.Tensor] = None,
+               features: Optional[torch.Tensor] = None,
+               labels: Optional[torch.Tensor] = None,
+               batch_id: Optional[torch.Tensor] = None,
+               batch_size: int = 1):
+    super().__init__()
+    self.points = points
+    self.normals = normals
+    self.features = features
+    self.labels = labels
+    self.batch_id = batch_id
+    self.batch_size = batch_size
+    self.device = points.device
+    self.batch_npt = None   # valid after `merge_points`
+    self.check_input()
+
+  def check_input(self):
+    r''' Checks the input arguments.
+    '''
+
+    assert self.points.dim() == 2 and self.points.size(1) == 3
+    if self.normals is not None:
+      assert self.normals.dim() == 2 and self.normals.size(1) == 3
+      assert self.normals.size(0) == self.points.size(0)
+    if self.features is not None:
+      assert self.features.dim() == 2
+      assert self.features.size(0) == self.points.size(0)
+    if self.labels is not None:
+      assert self.labels.dim() == 2 or self.labels.dim() == 1
+      assert self.labels.size(0) == self.points.size(0)
+      if self.labels.dim() == 1:
+        self.labels = self.labels.unsqueeze(1)
+    if self.batch_id is not None:
+      assert self.batch_id.dim() == 2 or self.batch_id.dim() == 1
+      assert self.batch_id.size(0) == self.points.size(0)
+      if self.batch_id.dim() == 1:
+        self.batch_id = self.batch_id.unsqueeze(1)
+      assert self.batch_id.size(1) == 1
+
+  @property
+  def npt(self):
+    return self.points.shape[0]
+
+  def orient_normal(self, axis: str = 'x'):
+    r''' Orients the point normals along a given axis.
+
+    Args:
+      axis (int): The coordinate axes, choose from :obj:`x`, :obj:`y` and
+          :obj:`z`. (default: :obj:`x`)
+    '''
+
+    if self.normals is None:
+      return
+
+    axis_map = {'x': 0, 'y': 1, 'z': 2, 'xyz': 3}
+    idx = axis_map[axis]
+    if idx < 3:
+      flags = self.normals[:, idx] > 0
+      flags = flags.float() * 2.0 - 1.0  # [0, 1] -> [-1, 1]
+      self.normals = self.normals * flags.unsqueeze(1)
+    else:
+      self.normals.abs_()
+
+  def scale(self, factor: torch.Tensor):
+    r''' Rescales the point cloud.
+
+    Args:
+      factor (torch.Tensor): The scale factor with shape :obj:`(3,)`.
+    '''
+
+    non_zero = (factor != 0).all()
+    all_ones = (factor == 1.0).all()
+    non_uniform = (factor != factor[0]).any()
+    assert non_zero, 'The scale factor must not constain 0.'
+    if all_ones: return
+
+    factor = factor.to(self.device)
+    self.points = self.points * factor
+    if self.normals is not None and non_uniform:
+      ifactor = 1.0 / factor
+      self.normals = self.normals * ifactor
+      norm2 = torch.sqrt(torch.sum(self.normals ** 2, dim=1, keepdim=True))
+      self.normals = self.normals / torch.clamp(norm2, min=1.0e-12)
+
+  def rotate(self, angle: torch.Tensor):
+    r''' Rotates the point cloud.
+
+    Args:
+      angle (torch.Tensor): The rotation angles in radian with shape :obj:`(3,)`.
+    '''
+
+    cos, sin = angle.cos(), angle.sin()
+    # rotx, roty, rotz are actually the transpose of the rotation matrices
+    rotx = torch.Tensor([[1, 0, 0], [0, cos[0], sin[0]], [0, -sin[0], cos[0]]])
+    roty = torch.Tensor([[cos[1], 0, -sin[1]], [0, 1, 0], [sin[1], 0, cos[1]]])
+    rotz = torch.Tensor([[cos[2], sin[2], 0], [-sin[2], cos[2], 0], [0, 0, 1]])
+    rot = rotx @ roty @ rotz
+
+    rot = rot.to(self.device)
+    self.points = self.points @ rot
+    if self.normals is not None:
+      self.normals = self.normals @ rot
+
+  def translate(self, dis: torch.Tensor):
+    r''' Translates the point cloud.
+
+    Args:
+      dis (torch.Tensor): The displacement with shape :obj:`(3,)`.
+    '''
+
+    dis = dis.to(self.device)
+    self.points = self.points + dis
+
+  def flip(self, axis: str):
+    r''' Flips the point cloud along the given :attr:`axis`.
+
+    Args:
+      axis (str): The flipping axis, choosen from :obj:`x`, :obj:`y`, and :obj`z`.
+    '''
+
+    axis_map = {'x': 0, 'y': 1, 'z': 2}
+    for x in axis:
+      idx = axis_map[x]
+      self.points[:, idx] *= -1.0
+      if self.normals is not None:
+        self.normals[:, idx] *= -1.0
+
+  def clip(self, min: float = -1.0, max: float = 1.0, esp: float = 0.01):
+    r''' Clips the point cloud to :obj:`[min+esp, max-esp]` and returns the mask.
+
+    Args:
+      min (float): The minimum value to clip.
+      max (float): The maximum value to clip.
+      esp (float): The margin.
+    '''
+
+    mask = self.inbox_mask(min + esp, max - esp)
+    tmp = self.__getitem__(mask)
+    self.__dict__.update(tmp.__dict__)
+    return mask
+
+  def __getitem__(self, mask: torch.Tensor):
+    r''' Slices the point cloud according a given :attr:`mask`.
+    '''
+
+    dummy_pts = torch.zeros(1, 3, device=self.device)
+    out = Points(dummy_pts, batch_size=self.batch_size)
+
+    out.points = self.points[mask]
+    if self.normals is not None:
+      out.normals = self.normals[mask]
+    if self.features is not None:
+      out.features = self.features[mask]
+    if self.labels is not None:
+      out.labels = self.labels[mask]
+    if self.batch_id is not None:
+      out.batch_id = self.batch_id[mask]
+    return out
+
+  def inbox_mask(self, bbmin: Union[float, torch.Tensor] = -1.0,
+                 bbmax: Union[float, torch.Tensor] = 1.0):
+    r''' Returns a mask indicating whether the points are within the specified
+    bounding box or not.
+    '''
+
+    mask_min = torch.all(self.points > bbmin, dim=1)
+    mask_max = torch.all(self.points < bbmax, dim=1)
+    mask = torch.logical_and(mask_min, mask_max)
+    return mask
+
+  def bbox(self):
+    r''' Returns the bounding box.
+    '''
+
+    # torch.min and torch.max return (value, indices)
+    bbmin = self.points.min(dim=0)
+    bbmax = self.points.max(dim=0)
+    return bbmin[0], bbmax[0]
+
+  def normalize(self, bbmin: torch.Tensor, bbmax: torch.Tensor,
+                scale: float = 1.0):
+    r''' Normalizes the point cloud to :obj:`[-scale, scale]`.
+
+    Args:
+      bbmin (torch.Tensor): The minimum coordinates of the bounding box.
+      bbmax (torch.Tensor): The maximum coordinates of the bounding box.
+      scale (float): The scale factor
+    '''
+
+    center = (bbmin + bbmax) * 0.5
+    box_size = (bbmax - bbmin).max() + 1.0e-6
+    self.points = (self.points - center) * (2.0 * scale / box_size)
+
+  def to(self, device: Union[torch.device, str], non_blocking: bool = False):
+    r''' Moves the Points to a specified device.
+
+    Args:
+      device (torch.device or str): The destination device.
+      non_blocking (bool): If True and the source is in pinned memory, the copy
+          will be asynchronous with respect to the host. Otherwise, the argument
+          has no effect. Default: False.
+    '''
+
+    if isinstance(device, str):
+      device = torch.device(device)
+
+    #  If on the save device, directly retrun self
+    if self.device == device:
+      return self
+
+    # Construct a new Points on the specified device
+    points = Points(torch.zeros(1, 3, device=device))
+    points.batch_size = self.batch_size
+    points.batch_npt = self.batch_npt
+    points.points = self.points.to(device, non_blocking=non_blocking)
+    if self.normals is not None:
+      points.normals = self.normals.to(device, non_blocking=non_blocking)
+    if self.features is not None:
+      points.features = self.features.to(device, non_blocking=non_blocking)
+    if self.labels is not None:
+      points.labels = self.labels.to(device, non_blocking=non_blocking)
+    if self.batch_id is not None:
+      points.batch_id = self.batch_id.to(device, non_blocking=non_blocking)
+    return points
+
+  def cuda(self, non_blocking: bool = False):
+    r''' Moves the Points to the GPU. '''
+
+    return self.to('cuda', non_blocking)
+
+  def cpu(self):
+    r''' Moves the Points to the CPU. '''
+
+    return self.to('cpu')
+
+  def save(self, filename: str, info: str = 'PNFL'):
+    r''' Save the Points into npz or xyz files.
+
+    Args:
+      filename (str): The output filename.
+      info (str): The infomation for saving: 'P' -> 'points', 'N' -> 'normals',
+          'F' -> 'features', 'L' -> 'labels', 'B' -> 'batch_id'.
+    '''
+
+    mapping = {
+        'P': ('points', self.points), 'N': ('normals', self.normals),
+        'F': ('features', self.features), 'L': ('labels', self.labels),
+        'B': ('batch_id', self.batch_id), }
+
+    names, outs = [], []
+    for key in info.upper():
+      name, out = mapping[key]
+      if out is not None:
+        names.append(name)
+        if out.dim() == 1:
+          out = out.unsqueeze(1)
+        outs.append(out.cpu().numpy())
+
+    if filename.endswith('npz'):
+      out_dict = dict(zip(names, outs))
+      np.savez(filename, **out_dict)
+    elif filename.endswith('xyz'):
+      out_array = np.concatenate(outs, axis=1)
+      np.savetxt(filename, out_array, fmt='%.6f')
+    else:
+      raise ValueError
+
+
+def merge_points(points: List['Points'], update_batch_info: bool = True):
+  r''' Merges a list of points into one batch.
+
+  Args:
+    points (List[Octree]): A list of points to merge. The batch size of each
+        points in the list is assumed to be 1, and the :obj:`batch_size`,
+        :obj:`batch_id`, and :obj:`batch_npt` in the points are ignored.
+  '''
+
+  out = Points(torch.zeros(1, 3))
+  out.points = torch.cat([p.points for p in points], dim=0)
+  if points[0].normals is not None:
+    out.normals = torch.cat([p.normals for p in points], dim=0)
+  if points[0].features is not None:
+    out.features = torch.cat([p.features for p in points], dim=0)
+  if points[0].labels is not None:
+    out.labels = torch.cat([p.labels for p in points], dim=0)
+  out.device = points[0].device
+
+  if update_batch_info:
+    out.batch_size = len(points)
+    out.batch_npt = torch.Tensor([p.npt for p in points]).long()
+    out.batch_id = torch.cat([p.points.new_full((p.npt, 1), i)
+                              for i, p in enumerate(points)], dim=0)
+  return out